CN108098134A - A kind of new pattern laser vision weld joint tracking system and method - Google Patents
A kind of new pattern laser vision weld joint tracking system and method Download PDFInfo
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- CN108098134A CN108098134A CN201611043658.6A CN201611043658A CN108098134A CN 108098134 A CN108098134 A CN 108098134A CN 201611043658 A CN201611043658 A CN 201611043658A CN 108098134 A CN108098134 A CN 108098134A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/044—Seam tracking
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Abstract
The present invention proposes a kind of new pattern laser vision weld joint tracking system and method, the system comprises：Welding robot, laser vision sensor, servo-controller, servo-driver, PC scenes configuration platform and intelligent terminal.The welding seam tracking method of the laser vision guiding comprises the following steps：S1, laser vision sensor acquisition weld image；S2 carries out noise filtering to weld image；S3 carries out binary conversion treatment to the image after wavelet de-noising；S4, laser stripe center extraction；S5 detects position while welding；S6 establishes seam tracking system model；S7 realizes weld joint tracking by the control strategy of deque.System solves the problem laser vision sensor guided robot the problem of human weld's efficiency in traditional welding industry is low, precision is low, harmful to people, is realized to weld seam from motion tracking, tracking accuracy is high, can meet industrial actual demand.
Description
Technical field
The present invention relates to the THE WELD SEAM TRACKING TECHNOLOGYs in welding industry, and in particular to a kind of new pattern laser vision weld joint tracking system
System and method.
Background technology
Welding is a Material Joining Technology, by certain physical and chemical process separated material is made to generate atom or divide
Active force between son and link together, with the continuous development of welding technique, its application in production is increasingly extensive, to mesh
Before until have become a kind of important manufacturing process.It is arrived from daily necessities, such as household electrical appliance, the production of hot-water heating equipment
The hard-core technologies such as aircraft, submarine, rocket, airship product all be unable to do without high efficiency, the welding technique of modernization, further improves weldering
Connect quality, improve working conditions, raising labour productivity has become the strong desire of all Welder authors, and use from
Dynamic control technology is to realize above-mentioned right way.The research of seam tracking system is important as one of welding field
Aspect, in order to carry out accurate automatic welding, it is necessary to carry out soldering joint automatic tracking.
It is well known that welder can observe welding pool to be adjusted to workpiece or welding gun by eyes or industrial television
It is whole and very high precision can be reached.But this dependent on welder individual experience, with subjectivity, labor intensity greatly and by cigarette
The influence of dirt and arc light can also generate deviation.
Application publication number be 201610421748.8 application for a patent for invention disclose " a kind of visual identity tack weld from
Motion tracking method and Intelligent welding robot ", the system include moving cart, lifting gear, manipulator, welding gun, computer control
System processed.Lifting gear is installed in moving cart, and manipulator is installed on lifting gear, and welding gun is installed on manipulator；Weldering
Rifle is equipped with visual identity tack weld autotracking unit, and visual identity tack weld autotracking unit includes sequentially connected regard
Feel that sensor, controller and executing agency, executing agency are connected with welding gun；Computer control system is used for moving cart, rises
Falling unit, manipulator and welding gun are controlled.
The application for a patent for invention that application publication number is 201610362050.3 discloses one kind, and " arc welding robot welds straight
Path is divided equally into N number of path by the online welding seam tracking method of line ", one section of reference route of robot teaching by apart from equipartition principle
Point, while obtain a reference coordinate value of measurement sensor.During actual motion, measurement sensor real time scan weld seam will weld
Seam coordinate is sent to robot, and robot compares coordinate value and a reference value, obtains deviation and goes to correct corresponding n-th of tunnel
Footpath point, the path point that Robot has been corrected are run point by point.
In foregoing invention patent, the welding seam tracking method of realization is relatively simple, strong according to lazyness to sensor and error
It is larger.
The content of the invention
Present invention aims to overcome that it is strong to the experience dependence of welder individual in traditional welding industry, with subjectivity
Property, labor intensity is big, the shortcomings of big is influenced by flue dust and arc light, a kind of new pattern laser vision weld joint tracking system and side are provided
Welding seam is combined by method with motion planning and robot control technology, efficiently solve weld seam automatically extract and intelligence with
Track.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of new pattern laser vision weld joint tracking system, which is characterized in that the system comprises：Welding robot, laser
Visual sensor, servo-controller, servo-driver, PC scenes configuration platform and intelligent terminal.The laser vision passes
Sensor is installed on welding robot end, for tracking weld image and acquisition weld image；The servo-controller and
Servo-driver is placed in inside welding robot, realizes the automatic welding operation of welding robot；The intelligent terminal is located at PC
Live configuration platform, for the intelligent control to this seam tracking system；System interface includes Image Acquisition, image procossing, weldering
Stitch identification, Mechanical course, weld joint tracking module.
A kind of new pattern laser vision weld joint tracking method, which is characterized in that specifically include following steps：
S1, laser vision sensor acquisition weld image；
S2, the small echo that noise is carried out to weld image filter out；
S3 carries out binary conversion treatment to the image after wavelet de-noising；
S4, laser stripe center extraction；
S5 detects position while welding；
S6 establishes seam tracking system model；
S7 realizes weld joint tracking by the control strategy of deque.
Description of the drawings
Fig. 1 is a kind of new pattern laser vision weld joint tracking system structure diagram of the present invention.
Fig. 2 is a kind of flow chart of new pattern laser vision weld joint tracking method in the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is carried out in further detail with complete explanation.It is appreciated that
It is that specific embodiment described herein is only used for explaining the present invention rather than limitation of the invention.
As shown in Figure 1, a kind of new pattern laser vision weld joint tracking system of the present invention includes welding robot, laser vision
Sensor, servo-controller, driver, PC scenes configuration platform and intelligent terminal.The laser vision sensor installation
In welding robot end, for tracking weld image and acquisition weld image；The servo-controller and servo-drive
Device is placed in inside welding robot, realizes the automatic welding operation of welding robot；The intelligent terminal is located at PC scenes configuration
Platform, for the intelligent control to this seam tracking system；System interface includes Image Acquisition, image procossing, weld seam recognition, machine
Tool control, weld joint tracking module.
As shown in Fig. 2, a kind of new pattern laser vision weld joint tracking method of the present invention, specifically includes following steps：
S1, laser vision sensor acquisition weld image；
S2, the small echo that noise is carried out to weld image filter out.Wavelet transformation first decomposes image, obtains not Tongfang
To the component of, different frequency, after the processing of each component, then reconstructed with wavelet inverse transformation and obtain image after processing；
S3 carries out binary conversion treatment to the image after wavelet de-noising.For the ease of subsequent image processing, it is necessary to be dropped to small echo
Image after making an uproar carries out binary conversion treatment.Binaryzation is exactly that the value for the pixel that will be greater than certain threshold value is set to 1, rest of pixels point
Value be set to 0：
F (x, y) represents the gray value of conversion preceding pixel point (x, y) in formula, and g (x, y) represents the pixel after conversion
Value, T for binaryzation convert threshold value；
S4, laser stripe center extraction.(Wu Jiayong, Wang Pingjiang, Chen Jihong wait to be based on gradient gravity model appoach to Steger algorithms
Line-structured light center sub-pixel extraction [J] Journal of Image and Graphics, 2009,14 (7)：It is 1354-1360.) sharp first
The normal direction of lines is determined with Hessian matrixes, light stripe center then is obtained using Taylor expansion in the direction of its normal
Sub-pixel location.In optical strip image, Hessian matrixes are expressed as：
G (x, y) represents two dimensional image in formula, and (x, y) represents a bit on image, rxx, rxyRepresent the second order of Gaussian function
Derivative, ryyRepresent the convolution of second-order partial differential coefficient and image.
After laser stripe center extraction, straight line is extracted by Hough transform method.Hough transform utilizes image coordinate system
With parameter coordinate system midpoint and the duality of line, i.e.,：A point under image coordinate system has corresponded to one in parameter coordinate system
Straight line；Equally, the straight line of parameter coordinate system has corresponded to a point under image coordinate system.So in image coordinate system
Present straight line all the points, their slope and intercept is all identical, thus they under parameter coordinate system correspond to it is same
A point.After under each spot projection under image coordinate system to parameter coordinate system, it may appear that some accumulation points, such aggregation
Point just corresponds to the straight line under poor original coordinate system.
In view of straight line slope may approach infinity, in order to make conversion significant, by the equation normal of straight line
Formula represents：
Xcos θ+ysin θ=ρ
ρ is distance of the straight line to coordinate origin in formula, and θ is straight line normal and the angle of x-axis.In this way, on the plane of delineation
Straight line just correspond to a point in parameter ρ-θ planes, count the quantity of collinear points, can detect straight line；
S5 detects position while welding.For being distributed in the laser stripe center line of weld seam both sides, due to its ρ value and θ values all phases
Together, what is extracted with Hough transform method is same straight line, it is therefore desirable to the laser stripe center line before Hough transform into
Row compares, and finds the discontinuous point on laser stripe center line, which is divided into two by the laser stripe center line of weld seam both sides
Section, the nearest endpoint of two lines section is weld edge point, and central point is required Weld pipe mill position.According to two joint edges
The spacing of edge point can also acquire weld width；
S6 establishes seam tracking system model.The model of laser vision guiding seam tracking system is as follows：OCXCYCZCFor
Camera coordinate system, OeXeYeZeFor mechanical arm tail end coordinate system, OwXwYwZwFor mechanical arm basis coordinates system, OgXgYgZgIt is sat for the world
Mark system, P points can extract weld bead feature points, (u to be currentp,vp,1)TFor the image pixel coordinates of P points, P is denoted asu.Video camera internal reference
The transition matrix of matrix number A, camera coordinate system and mechanical arm tail end coordinate system, that is, trick matrix Hy, laser optical plane imaging
Plane equation ax under machine coordinate systemp+byp+ c=1, workpiece is in the offset vector t of mechanical arm tail end7It is obtained by calibration.T6For machine
Tool arm ending coordinates system and the transition matrix of mechanical arm basis coordinates system, are calculated by reading the current pose of mechanical arm in real time.
According to the model, to weld bead feature points P (the image coordinate P extracted from weld imageu) converted,
It can obtain its coordinate P under mechanical arm basis coordinates systemw.It, will also be according to P for welding gun is enable to track weld seamwIt calculates in rotation position
Appearance R6The position coordinates P that lower mechanical arm tail end point should reache.Specific shift step is as follows：
(1) coordinate P of the P points under camera coordinate system on image is calculatedx, (xp,yp,1)T：
Px=A-1Pu
(2) the plane equation ax of the laser optical plane under camera coordinate system is combinedp+byp+ c=1 calculates spot welds and is taking the photograph
Three-dimensional coordinate P under camera coordinate systemc：
Pc=Px/(axp+byp+c)
(3) coordinate P of the P points under mechanical arm tail end coordinate system is calculatedm, (xpm,ypm,zpm,1)T:
(4) coordinate P of the P points under mechanical arm basis coordinates system is calculatedw：
Pw=T6Pm
(5) calculate in rotation pose R6Lower is that welding gun is made to track weld seam, and mechanical arm tail end answers in-position coordinate Pe：
Pe=Pw+R6t7
S7 realizes weld joint tracking by the control strategy of deque, specific as follows：
S71：Robotic arm end is moved near weld seam starting point；
S72：Laser vision sensor identifies weld seam starting point, automatically controls machine arm end to weld movement, identification first
A effective spot welds P1, store in queue 1；
S73：Read Current mechanical arm terminal position P0e, by the head of the queue element P of queue 11Go out team, calculating machine arm end should
In-position P1eIn P0eAnd P1eInto row interpolation between the two mechanical arm tail end location points, be guaranteed mechanical arm smooth motion
To P1eA series of intermediate trace points, store in queue 2, and by P1ePosition should be reached as Current mechanical arm to preserve；
S74：Element in queue 2 is gone out into team successively, control machinery arm moves to designated position.This process is repeated, directly
It is sky to queue 2.
S75：While manipulator motion, synchronous acquisition weld image extracts a series of weld bead feature points PiSuccessively
It stores in queue 1.It is jumped to (S78) if weld seam extraction failure.
S76：The head of the queue element of queue 1 is gone out into team, calculates the mechanical arm tail end location point corresponding to the position while welding
P(i+1)e, then location point P should be reached in Current mechanical armieAnd P(i+1)eBetween into row interpolation, obtain a series of tracing points, storage is arrived
In queue 2, and Current mechanical arm should be reached into location point P(i+1)eIt replaces.
S77：In the weld image of visual sensor acquisition, if weld bead feature points deviate from picture centre region,
Suitably to adjust mechanical arm tail end rotation pose R6.Specifically method of adjustment is：If spot welds are in position to the left in the picture,
Mechanical arm tail end rotation pose R6Counterclockwise movement is a certain amount of, if spot welds are in position to the right, mechanical arm tail end rotation position
Appearance R6Clockwise movement is a certain amount of.The size of amount of exercise is determined by the departure degree of weld bead feature points and picture centre, to ensure
Weld bead feature points are in picture centre region position after adjustment.It, be to the machine in queue 2 after mechanical arm tail end rotation pose adjustment
Tool arm terminal position point does corresponding conversion.
S78：Repeat step (S74)~(S77).When queue 1 and queue 2 are all empty, weld joint tracking terminates.
It is merely a preferred embodiment of the present invention, is not intended to limit the invention, for those skilled in the art described in upper
Speech, the present invention can have various modifications and changes.All any modifications made within spirit and principles of the present invention are equally replaced
It changes, improve, should all be included in the protection scope of the present invention.
Claims (2)
1. a kind of new pattern laser vision weld joint tracking system, which is characterized in that the system comprises：Welding robot, laser video
Feel sensor, servo-controller, servo-driver, PC scenes configuration platform and intelligent terminal；Wherein：
The laser vision sensor is installed on welding robot end, for tracking weld image and acquisition weld image；Institute
It states servo-controller and servo-driver is placed in inside welding robot, the automatic welding for being used to implement welding robot is made
Industry；The intelligent terminal is located at PC scenes configuration platform, for the intelligent control to this seam tracking system；System interface includes
Image Acquisition, image procossing, weld seam recognition, Mechanical course, weld joint tracking module.
2. a kind of a kind of new pattern laser realized using a kind of new pattern laser vision weld joint tracking system described in claim 1 regards
Feel welding seam tracking method, which is characterized in that specifically include following steps：
S1, laser vision sensor acquisition weld image；
S2, the small echo that noise is carried out to weld image filter out；
S3 carries out binary conversion treatment to the image after wavelet de-noising；
S4, laser stripe center extraction；
S5 detects position while welding；
S6 establishes seam tracking system model；
S7 realizes weld joint tracking by the control strategy of deque.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108907455A (en) * | 2018-08-04 | 2018-11-30 | 苏州佩恩机器人有限公司 | A kind of seam tracking system and method merging vision technique based on laser-visible light |
| CN110449789A (en) * | 2019-08-22 | 2019-11-15 | 深圳市威博特科技有限公司 | A kind of adaptive welder and method |
| WO2020020113A1 (en) * | 2018-07-25 | 2020-01-30 | 同高先进制造科技（太仓）有限公司 | Active laser vision weld tracking system and weld position detecting method |
| CN113000988A (en) * | 2019-12-22 | 2021-06-22 | 深圳市新盛机器人有限公司 | Processing method of visual welding tracking sensing system |
| CN113857632A (en) * | 2021-08-02 | 2021-12-31 | 中石化石油机械股份有限公司沙市钢管分公司 | Gas shielded welding automatic tracking system and method for straight-seam steel pipe pre-welding machine |
| CN115351713A (en) * | 2022-10-19 | 2022-11-18 | 武汉艾极涂科技有限公司 | Sand blasting method, device, equipment and storage medium based on image recognition |
| CN117300301A (en) * | 2023-11-30 | 2023-12-29 | 太原科技大学 | Welding robot weld joint tracking system and method based on monocular line laser |
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2016
- 2016-11-24 CN CN201611043658.6A patent/CN108098134A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020020113A1 (en) * | 2018-07-25 | 2020-01-30 | 同高先进制造科技（太仓）有限公司 | Active laser vision weld tracking system and weld position detecting method |
| CN108907455A (en) * | 2018-08-04 | 2018-11-30 | 苏州佩恩机器人有限公司 | A kind of seam tracking system and method merging vision technique based on laser-visible light |
| CN110449789A (en) * | 2019-08-22 | 2019-11-15 | 深圳市威博特科技有限公司 | A kind of adaptive welder and method |
| CN110449789B (en) * | 2019-08-22 | 2021-10-08 | 深圳市威博特科技有限公司 | Self-adaptive welding device and method |
| CN113000988A (en) * | 2019-12-22 | 2021-06-22 | 深圳市新盛机器人有限公司 | Processing method of visual welding tracking sensing system |
| CN113857632A (en) * | 2021-08-02 | 2021-12-31 | 中石化石油机械股份有限公司沙市钢管分公司 | Gas shielded welding automatic tracking system and method for straight-seam steel pipe pre-welding machine |
| CN115351713A (en) * | 2022-10-19 | 2022-11-18 | 武汉艾极涂科技有限公司 | Sand blasting method, device, equipment and storage medium based on image recognition |
| CN117300301A (en) * | 2023-11-30 | 2023-12-29 | 太原科技大学 | Welding robot weld joint tracking system and method based on monocular line laser |
| CN117300301B (en) * | 2023-11-30 | 2024-02-13 | 太原科技大学 | Welding robot weld joint tracking system and method based on monocular line laser |
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